Function opencv::ccalib::stereo_reconstruct

pub fn stereo_reconstruct(
    image1: &dyn ToInputArray, 
    image2: &dyn ToInputArray, 
    k1: &dyn ToInputArray, 
    d1: &dyn ToInputArray, 
    xi1: &dyn ToInputArray, 
    k2: &dyn ToInputArray, 
    d2: &dyn ToInputArray, 
    xi2: &dyn ToInputArray, 
    r: &dyn ToInputArray, 
    t: &dyn ToInputArray, 
    flag: i32, 
    num_disparities: i32, 
    sad_window_size: i32, 
    disparity: &mut dyn ToOutputArray, 
    image1_rec: &mut dyn ToOutputArray, 
    image2_rec: &mut dyn ToOutputArray, 
    new_size: Size, 
    knew: &dyn ToInputArray, 
    point_cloud: &mut dyn ToOutputArray, 
    point_type: i32
) -> Result<()>

Stereo 3D reconstruction from a pair of images

Parameters

• image1: The first input image
• image2: The second input image
• K1: Input camera matrix of the first camera
• D1: Input distortion parameters for the first camera
• xi1: Input parameter xi for the first camera for CMei's model
• K2: Input camera matrix of the second camera
• D2: Input distortion parameters for the second camera
• xi2: Input parameter xi for the second camera for CMei's model
• R: Rotation between the first and second camera
• T: Translation between the first and second camera
• flag: Flag of rectification type, RECTIFY_PERSPECTIVE or RECTIFY_LONGLATI
• numDisparities: The parameter 'numDisparities' in StereoSGBM, see StereoSGBM for details.
• SADWindowSize: The parameter 'SADWindowSize' in StereoSGBM, see StereoSGBM for details.
• disparity: Disparity map generated by stereo matching
• image1Rec: Rectified image of the first image
• image2Rec: rectified image of the second image
• newSize: Image size of rectified image, see omnidir::undistortImage
• Knew: New camera matrix of rectified image, see omnidir::undistortImage
• pointCloud: Point cloud of 3D reconstruction, with type CV_64FC3
• pointType: Point cloud type, it can be XYZRGB or XYZ

C++ default parameters

• new_size: Size()
• knew: cv::noArray()
• point_cloud: cv::noArray()
• point_type: XYZRGB